private void initializeEngine(agxPowerLine.PowerLine drivetrain, agxDriveTrain.PidControlledEngine engine)
{
// set a value for the inertia of the rotational dimension
engine.setInertia(0.4);
drivetrain.setSource(engine);
// Create a rpm/torque table
var rpm_torque_table = new agx.RealPairVector();
foreach (var t in m_rpm_torque)
{
rpm_torque_table.Add(new agx.RealPair(t.First, t.Second));
}
engine.setRPMTorqueTable(rpm_torque_table);
engine.ignition(true);
engine.setThrottle(1.0);
}
private void initializeDrivetrain()
{
// Create a drive train
var driveTrain = new agxPowerLine.PowerLine();
m_simulation.add(driveTrain);
// Create an engine.
m_engine = new agxDriveTrain.PidControlledEngine();
// Initialize the engine parameters
initializeEngine(driveTrain, m_engine);
//
// Engine
// ^
// |
// |
// Clutch
// ^
// |
// |
// FrontRightWheelActuator GearBox RearRightWheelActuator
// ^ ^ ^
// | | |
// | | |
// FrontDifferential < ------- CenterDifferential -----> RearDifferential
// | |
// | |
// FrontLeftWheelActuator RearLeftWheelActuator
var engineShaft = new agxDriveTrain.Shaft();
engineShaft.getRotationalDimension().setName("engineShaft");
m_clutch = new agxDriveTrain.Clutch(0.0);
var clutchShaft = new agxDriveTrain.Shaft();
clutchShaft.getRotationalDimension().setName("clutchShaft");
m_gearbox = new agxDriveTrain.GearBox();
/// Initialize the gear box parameters
initializeGearBox(m_gearbox);
var gearBoxShaft = new agxDriveTrain.Shaft();
gearBoxShaft.getRotationalDimension().setName("gearBoxShaft");
bool status = false;
status = m_engine.connect(agxPowerLine.UnitSide.UNIT_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT, engineShaft);
Debug.Assert(status);
status = m_clutch.connect(engineShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = m_clutch.connect(clutchShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = m_gearbox.connect(clutchShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = m_gearbox.connect(gearBoxShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
var centerDifferential = new agxDriveTrain.Differential();
var frontDifferential = new agxDriveTrain.Differential();
frontDifferential.setLock(true);
var rearDifferential = new agxDriveTrain.Differential();
rearDifferential.setLock(true);
var frontDifferentialShaft = new agxDriveTrain.Shaft();
frontDifferentialShaft.getRotationalDimension().setName("frontDifferentialShaft");
var rearDifferentialShaft = new agxDriveTrain.Shaft();
rearDifferentialShaft.getRotationalDimension().setName("rearDifferentialShaft");
var frontRightWheelShaft = new agxDriveTrain.Shaft();
var rearRightWheelShaft = new agxDriveTrain.Shaft();
var frontLeftWheelShaft = new agxDriveTrain.Shaft();
var rearLeftWheelShaft = new agxDriveTrain.Shaft();
status = centerDifferential.connect(gearBoxShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = centerDifferential.connect(frontDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = centerDifferential.connect(rearDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearDifferentialShaft, agxPowerLine.ConnectorSide.CONNECTOR_INPUT, agxPowerLine.UnitSide.UNIT_OUTPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontRightWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearRightWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = frontDifferential.connect(frontLeftWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
status = rearDifferential.connect(rearLeftWheelShaft, agxPowerLine.ConnectorSide.CONNECTOR_OUTPUT, agxPowerLine.UnitSide.UNIT_INPUT);
Debug.Assert(status);
// Now connect wheel shafts to constraints.
var frontRightWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["RightFrontHinge"]);
var frontLeftWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["LeftFrontHinge"]);
var rearRightWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["RightRearHinge"]);
var rearLeftWheelActuator = new agxPowerLine.RotationalActuator(m_wheelHinges["LeftRearHinge"]);
status = frontRightWheelShaft.connect(frontRightWheelActuator);
Debug.Assert(status);
status = frontLeftWheelShaft.connect(frontLeftWheelActuator);
Debug.Assert(status);
status = rearRightWheelShaft.connect(rearRightWheelActuator);
Debug.Assert(status);
status = rearLeftWheelShaft.connect(rearLeftWheelActuator);
Debug.Assert(status);
}
